CURRICULUM VITAE SEPTEMBER 2012

Oussama KhatibDepartment of Computer Science

Stanford University, Stanford, California 94305

Education

Ph.D. (Automatique et Systeme), Sup’Aero, Toulouse, France, 1980.Diplome de Specialisation (Automatique Avancee), Sup’Aero, Toulouse, France, 1976.M.S. (Electronique, Electrotechnique et Automatique), Universite de Montpellier, 1974.B.S. (Science) Universite de Montpellier, France, 1972.

Experience

Professor (2000–present) of Computer Science and (by courtesy) MechanicalEngineering, Stanford University.

Associate Professor (1990–1999) of Computer Science and (by courtesy) MechanicalEngineering, Stanford University.

Director, The Stanford Computer Forum (1997–1999), Stanford University.Visiting Professor: The National University of Singapore (1997,2002,2005,2009); EPFL, Lau-

sanne, Switzerland (1996); Paris VI, France (1994,2009); Scuola Superiore S. Anna, Pisa,Italy (1992,2007).

Senior/Research Associate (1981–1989), Computer Science Department, Stanford University.

Professional Activities

President IFRR, International Foundation of Robotics Research (2001, present).Co-Chair, Scientific Board, IEEE-RAS/IFRR School of Robotics Science (2004, present).Co-Editor, Handbook of Robotics, Springer

Springer Tracts in Advanced Robotics, STAR (2002–present)The Robotics Review 1 and 2, Cambridge: MIT Press (1988-1990).

Editorial Board, IJRR, International Journal of Robotics Research (2003–present)Journal of Advanced Robotics (2003–present)

International Advisory Board, IJSR International Journal of Social Robotics (2009–present)Advisory Board, IJHR International Journal of Humanoid Robotics (2003–present)

International Journal of Autonomous Robotics (2003–present)JSME, Japan Society of Mechanical Engineers Journal (1990–1993)

AdCom Elected Member, IEEE Robotics and Automation Society (1998-2000),(2001-03), and(2011-2014)

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IEEE RAS Representative, IEEE-TAB New Technology Directions Committee (2001-03)Steering Committee, IAB Board, IEEE Robotics and Automation (2005-2007)Academic Advisory Board, Asian Institute of Technology, AIT (2001-2005)Scientific Advisory Board, B-IT, Bonn Int. Center for Information Technology (2004-present)Scientific Advisory Board, Italian Institute of Technology, IIT (2007-present)Scientific Board, Biorobotics Science and Engineering, IMT, Lucca, ItalyChair of Steering Committee, ISER, Int. Symposium of Experimental Robotics, (1989–present).Conference Advisory Boards, ICRAM, IAT, WEC, IROS, ITM, ISIM, HNICEM.Conference Steering Committee, ICAR, Advanced Robotics (1989–present). ICMT, Int. Conf.

Mechatronics Technology (2002–present).Program Chair, ICRA 2000, IEEE International Conference on Robotics and Automation;

ISER, Int. Symp. Experimental Robotics, 1st Montreal 1989; 4th Stanford 1995; 9th Singa-pore 2004, 10th Rio de Janeiro 2006, 11th Athens 2008, 12th New Delhi/Agra 2010, 13thQuebec City 2012;

General Chair IROS 2011, IEEE/RSJ Int. Conf. Intelligent Robots and Systems, San Francisco;The Sixth IARP-IEEE/RAS-EURON Joint Workshop on Technical Challenges for Depend-able Robots in Human Environments, Pasadena, California 2008

General Co-Chair IROS 2007, IEEE/RSJ Int. Conf. Intelligent Robots and Systems, San DiegoBioRob 2008, IEEE/RAS-EMBS International Conference on Biomedical Robotics andBiomechatronics, Scottsdale, Arizona, ISRR, International Symp. Robotics Research, Flagstaff,Arizona 2011, RoManSy 2012, Paris.

Program Chair, ICRA 2000, IEEE International Conference on Robotics and Automation;ISER, Int. Symp. Experimental Robotics, 1st Montreal 1989; 4th Stanford 1995; 9th Singa-pore 2004, 10th Rio de Janeiro 2006, 11th Athens 2008, Twelfth New Delhi/Agra 2010

Program Co-Chair, IROS’95, Int. Conf. Intelligent Robots and Systems, Pittsburgh 1995, NinthISER, ISIM2000, International Symposium on Mechatronics, Kyungnam, Korea 2000; Int.Symp. Experimental Robotics, Singapore 2004; Tenth ISER, Int. Symp. ExperimentalRobotics, Rio de Janeiro 2006; Eleventh ISER, Int. Symp. Experimental Robotics, Athens2008;ACIAR, Asian Conf. Industrial Robotics and Automation, Bangkok (1999-present);IROS 2007, Int. Conf. Intelligent Robots and Systems, San Diego.

IEEE-RAS Pioneer Awards Chair, 2007Award Chair: BioRob 2006, Pisa, ItalyAward Chair: IEEE-RAS Robotics and Automation, ICRA 2007, Rome, ItalyTechnical Committee, IEEE Robot Dynamics and Control, Chair (1990-94); IFToMM Robots

and Manipulators; IFToMM Robots and Mechatronics; IFAC RobTeC, IEEE-RAS MobileManipulation, IEEE-RAS Haptics.

Program Committees: IROS, IEEE/RSJ Int. Conf. Intelligent (1991–present); ISER, Int. Symp.Experimental Robotics (1989–present); ARK, Advances in Robot Kinematics (1988–present); ICARConference, Advanced Robotics (1989–present); Ro.Man.Sy Symp. Robots and Manipulators (1992–present); ISRAM, Symp. Robotics and Manufacturing (1994–present); FSR. Int. Conf. Fieldand Service Robotics (1997-present) SY.RO.CO. IFAC Symposium (1994–present); ICRAM Conf.Advances in Mechatronics (1995-present); ISIR Symp. Intelligent Robotics (1991/’92); IEEE Int.

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Conf. Robotics and Automation (1991/’92/’95/’96/2001); Japan-USA Symp. Flexible Automation(1992/’96/’97); IASTED Int. Conf. Robotics and Manufacturing (1995/’97/’98); Int. Workshop onAdvanced Motion Control (1986); I-SAIRAS Symp. Space Robotics (1992); IASTED Int. Conf.Robotics and Applications (1999); BASYS’96 Architectures and Design Methods; Mechatronics’98,6th UK Int. Conference; IAT’99, 1st Asia-Pacific Conference on Intelligent Agent Technology;ICORR’99, International Conference on Rehabilitation Robotics. MAS’99 Multi-Agent Systemsin Production; INES’99 3rd IEEE Int. Conf. Intelligent Engineering Systems; ISRA 2000, Interna-tional Symposium on Robotics and Automation; ISR 2000, International Symposium on Robotics;IAM 2001, Intelligent Automated Manufacturing; M2VIP 2001 Mechatronics and Machine Vision;AMC’02, 7th International Workshop on Advanced Motion Control; SICE 2003, Society of Instru-ment and Control Engineers Annual Conference.

Video Proceeding Committees IEEE Int. Conf. Robotics & Automation,(1991–1999); ISER, Int.Symp. Experimental Robotics, (1989–present).

Honors and Awards

IEEE Robotics and Automation Pioneering Award, for fundamental pioneering contributionsin robotics research, visionary leadership, and life-long commitment to the field in 2010.

Jury, BBVA Foundation Frontiers of Knowledge Award in the Information and Communica-tion Technologies, 2009-present

PROSE Awards for Excellence in Physical Sciences & Mathematics, and for Engineering &Technology, Springer Handbook of Robotics, American Association of Publishers, 2009.

IEEE-RAS Pioneer Awards Chair, 2007Awards Chair, IEEE-RAS ICRA2007, Rome, Italy, 2007Awards Chair, BioRob2006, Pisa, Italy, 2006Honorary Chair, ICMT, Mexico 2006Consulting Professor, Harbin Institute of Technology, 2006.Honorary Professor, De La Salle University, Manila, Philippines, 2005.Honorary Citizen of Budapest Tech, 2004.IEEE Fellow, 2003.Honorary Professor, HIT, Harbin, China, 2002.Distinguished Lecturer, IEEE (1997-2005).The JARA Award, the 1996 Japan Robot Association Award in Research and Development.

Keynote and Plenary Presentations

SYROCO 2012, Symposium on Robot Control, Dubrovnik, September 2012MIS 2012, Multi-scale Intelligent Systems, July 2012BioRob 2012, Bio-Robotics, Rome, June 2012MASFOR 2012, 100 Years Anniversary, Bogazici University, Istanbul, June 2012DEXMART - Advanced Bi-Manual Manipulation, Bled, Slovenia, October 2011CLAWAR 2011, Climbing and Walking Robots, Paris September 2011Berlin Summit on Robotics, Berlin Germany, July 2011

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Summer School of Impedance, Frauenchiemsee, Germany, July 2011ICAR 2011, International Conference on Advanced Robotics, Tallinn, Estonia, June 2011HNICEM, Manila, Philippines, March 2011Moroccan Engineering Summit, Efran, Morocco, July 2010APSIPA Annual Summit and Conference, Singapore Dec 2010 SIMPAR 2010 International Con-

ference on Simulation, Modeling and Programming for Autonomous Robots. November15-8, 2010 - Darmstadt, Germany.

IEEE Ro-Man, Robot-Human Synergies, Toyama, Japan, Sep 2010Brain, Body, and Machines Lecture Series, the Twenty-Fifth Anniversary of McGill’s Center for

Intelligent Machines, Montreal, April 2010International Conference on Orthopaedic Surgery, London, UK, June 2010Symposium on Computer Animation, Madrid, Spain, July 2010RAAD, International Workshop on Robotics in Alpe-Adria-Danube Region, Budapest, Hungary

June 2010IEEE-RAS/IFRR School of Robotics Science on Social and Cognitive Robotics, Iasi, Romania,

July 2010SYROCO 2009, Int. IFAC Symp. Robot Control, Gifu, Japan, Sep 2009Digiteo Forum, Science and Technology of Information, Paris, October 2009Gottingen Science Festival, Gottingen, Germany October 2009Distinguished Lecturer, the 2009-10 Dertouzos Lecture Series, MIT, Boston, Nov 2009Futuro Remoto Science Festival, Napoli, Italy, November 2009HNICEM, Manila, Philippines 2009Budapest Tech Jubilee Conference, Budapest, Hungary September 2009IEEE Int. Conference of Robotics and Automation Science Forum, Kobe, Japan, May 2009IEEE International Symposium on Industrial Electronics, Seoul, Korea, August 2009Dagstuhl Workshop on ”Cognition, Control and Learning for Robot Manipulation in Human

Environments”, Dagstul, Germany, August 2009Robotics At Lincei, Italian Accademia Nazionale dei Lincei, Rome, Italy 2008IARP/IEEE-RAS/Euron Workshop on Robot Dependability, Pasadena, California 2008IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Xian, China 200818th International Conference on Robotics and Mechatronics’09, Varna, Bulgaria 2008Rensselaer Polytechnic Institute Computer Science Day, Troy, NY, Oct 2007CIM’07 Int. Conf. Control, Johor Baharu, Malaysia, May 2007Journees Nationales de la Robotique Humanoide, Montpellier, France, April 2007IARP/IEEE-RAS/Euron Workshop on Robot Dependability, Rome, Italy, April 2007HNICEM, Manila, Philippines, Feb 2007.ARSO 2006, IEEE Workshop on Advanced Robotics and Social Impact Service Robots, Beijing.ICMT 2006, Int. Conf. Mechatronics Technology, Mexico City, Dec 2006RoManSy’06, CISM-IFToMM Symp Robot Design, Dynamics & Control, Warsaw, Jun 2006RAAD’06, Int Workshop on Robotics in Alpe-Adria-Danube, Budapest, Hungary June 2006IEEE-RAS International Conference on Robotics and Automation, 2005 Barcelona, SpainICMT 2005, Int. Conf. Mechatronics Technology, Kuala Lumpur, Dec 2005

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ACIAR 2005, Asian Conference on Industrial Automation Robotics, 2005, Bangkok, ThailandDigital Human Workshop 2005, Tokyo, JapanHNICEM, Manila, Philippines, March 2005.KIRW 2004, Korea International Robot Week, Seoul, KoreaICRA 2004, IEEE International Conference on Robotics and Automation, 2005 Barcelona, SpainBudapest Polytechnic Jubilee Convention, 2004, Budapest, HungaryHNICEM, Manila, Philippines, March 2003.RISSP 2003, Robotics, Intelligent Systems and Signal Processing, Changsha, China, 2003.ISCSB 2003 Int. Symposium on Computer Simulation in Biomechanics, 2003.ACIAR 2003 Automation and Robotics, Bangkok, Thailand, 2003.HIS 2002 2nd Int. Conf. Hybrid Intelligent Systems, Santiago, Chile, 2002.RoMoCo 2002 3rd Int. Workshop Robot Motion and Control, Bukowy Dworek, Poland, 2002.ROMAN 2002 11th IEEE Int. W. Robot and Human Interactive Communication, Berlin, 2002.CLAWAR 2002 5th Int. Conf. Climbing and Walking Robots, Paris, 2002.Second IARP/IEEE Workshop on Dependable Robots in Human Environments, Toulouse 2002.WEC 2002 2nd World Engineering Conference, Kuching, Sarawak, Malaysia, 2002.AMT 2001 6th Int. Conf. Active Media Technology, Hong Kong, 2001.SICE 2001 The 40th SICE Annual Conference, Nagoya, Japan, 2001ACRA 2001 Robotics and Mechatronics Congress, Singapore, 2001.ASIAR 2001 Automation and Robotics, Bangkok, Thailand, 2001.ICOM 2001 International Conference on Mechatronics, Kuala Lumpur, Malaysia, 2001ISIM 2000 International Symposium on Mechatronics, Kyungnam, Korea, 2000RoMoCo’99 1st Int. Workshop Robot Motion and Control, Poznan, Poland, 1999INES’99. IEEE International Conference Intelligent Engineering Systems, Slovakia, 1999WEC’99, World Engineering Congress, Kuala Lumpur, Malaysia, 1999ASIAR’99, Automation and Robotics, Bangkok, Thailand, 1999.FSR’97, Field and Service Robotics, Canberra, Australia, 1997ICI&C’97, Informatics and Control, St. Petersburg, Russia, 1997The Annual Christie Lecture, The Johns Hopkins University, 1996Ro.Man.Sy’96, Robots and Manipulators, Udine, Italy, 1996ROVPIA’96, Robotics and Vision, Ipoh, Malaysia, 1996ARK’96, Advances in Kinematics, Portoroz-Bernardin, Slovenia, 1996ICAR’95, Advanced Robotics, Sant Feliu, Spain, 1995IFAC/SY.RO.CO’94, Robot Control, Capri, Italy, 1994The Second Congress on Mechatronics, Takamatsu, Japan 1994ROVPIA’94, Robotics and Vision, Ipoh, Malaysia, 1994The GMA Conference, Langen, Germany, 1993.

Colloquia and Seminars

Europe and the Mediterranean:In France (Centre d’Etudes et de Recherches de Toulouse; Commissariat a l’Energie Atom-ique, Paris;Aerospatiale, Paris; Laboratoire de Robotics de Paris, Paris; Imagine, Paris; Cy-

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bernetix, Marseilles; PSA Peugeot Citron, Paris; Renault, Paris; INRIA Rocquencourt, Paris;INRIA Rhone-Alpes, Grenoble; INRIA Sophia-Antipolis, Nice, Laboratoire d’Automatiquede Montpellier; Laboratoire d’Automatique et d’Analyse des Systemes, Toulouse; LRP/ISIRUniversite Paris VI; Matra, Paris; Universite Aix-Marseille III, Marseille). In Germany(Technical University of Berlin, Technical University of Munich, University of Karlsruhe,University of Duisburg, Daimler Benz, Berlin, University of Hannover, Carl-Cranz-Gesellschaft,Oberpfaffenhofen, Bonn-Rhein-Sieg University of Applied Science, Bonn; DLR, Munich)In Turkey (Bogazici University, Istanbul, Istanbul Technical University, Middle East Tech-nical University, Ankara). In Italy ( Scuola Superiore S. Anna, Pisa, Tecnomare, Venice,University of Verona, Italian Institute of Technology, Genoa, University of Napoli); In Mo-rocco (Universit Hassan II Casablanca, cole Nationale Suprieure dlectricit et de Mcanique),In Switzerland (EPFL, Lausanne, ETH, Zurich); American University, Cairo, Egypt; Uni-versity of Leoben, Austria; Institute for Industrial Cybernetic and Robotics, Sofia, Bulgaria.

Asia and Australia:In China (Changsha Institute of Technology, Changsha, Harbin Institute of Technology,Harbin) In Japan (AIST, Tsukuba;, Fanuc, Oshino-Mura; Fujitsu, Kawasaki; HiroshimaUniversity, Hiroshima; Hitachi Construction Machinery, Tsuchiura; Hitachi Production En-gineering Research Laboratory, Yokohama; Honda Wako Research and Development Cen-ter, Tokyo; Hong Kong Baptist University, Hong Kong; Industrial Products Research In-stitute, Tsukuba; Kobe Steel, Kobe; Mechanical Engineering Laboratory, Tsukuba; MitsuiEngineering & Shipbuilding, Tokyo; National University of Singapore; NEC, Nara; NissanMotor Co., Zama City; Riken, Tokyo; Sony, Tokyo; Tohoku University, Sendai; Toshiba,Kawasaki; Toyota Central R & D Laboratories, Nagoya; Tsukuba University, Tsukuba;Yaskawa, Fukuoka); In Korea (Samsung, Seoul; KIST, Seoul; KAIST, Daejeon; KoreanInstitute for Industrial Technology (KITECH), Seoul); In Australia (University of Canberra,Australia; University of Melborne, Australia; University of Sydney, Australia; University ofWestern Australia); In Thailand (Asian Institute of Technology, Bangkok; ChulalongkornUniversity, Bangkok; Thammasat University, Bangkok; Prince of Songkla University, HatYai) In Vietnam (Vietnam National University, Ho Chi Minh City; Hanoi University ofTechnology; Institute of Mechanics, Vietnam Academy of Sciences, Hanoi); In Malaysia(Universiti Teknologi Malaysia, Johor; Universiti Malaya, Kuala Lumpur); Royal Univer-sity of Phnom Penh, Cambodia, Kathmandu University, Nepal; Regional Science Bureau forAsia & Pacific, UNISCO, Jakarta, Indonesia.

In the Americas:In the US (NASA/AMES, Mountain View; Boeing, Seattle; Carnegie Mellon University,General Electric, Schenectady, NY; General Motors, Detroit; Grumman Space Systems,Bethpage; Honda, Mountain View; IBM, Yorktown Heights; JPL, Pasadena; SRI, MenloPark; Purdue University; Media Lab, MIT; Massachusetts Institute of Technology, Cam-bridge; NASA, Houston, Pacific Northwest Laboratory, Hanford; Xerox Parc, Palo Alto;Purdue University, West Lafayette; Sandia Laboratories, Albuquerque, New Mexico; TheJohns Hopkins University; University of California, Berkeley; University of California,Santa Barbara; University of California, Davis; University of Columbia, New York; Univer-sity of New York; University of Florida, Gainesville; University of Minnesota, Minneapolis;

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University of North Carolina, University of Pennsylvania, Philadelphia; University of Reno;University of Southern California); In Canada (University of Toronto; McGill University);Federal University of Rio de Janeiro, Brazil; The Tec de Monterrey, Guadalajara, Jalisco,Mexico.

Workshop Presentations

HFR’09 Human-Friendly Robotics Workshop, Sestri Levante, Italy December 2008Third KAIST-Stanford Joint Workshop on Robotics, Stanford, California, February 2007.Workshop on Sciences, Technologies and Applications of Haptics, Paris, September 2006Second KAIST-Stanford Joint Workshop on Robotics, Stanford, California, March 2006.Workshop on Robot Design, University of Tokyo, Japan, September 2005First KAIST-Stanford Joint Workshop on Robotics, Daejeon, Korea, March 2005.NASA/NSF Workshop on Autonomous Mobile Manipulation, March 2005WTEC NSF Workshop on the U.S Baseline of Robotics, July 2004IEEE RAS Educational Robotics, April 2004VRAI: Virtual Reality and Active Interfaces, Lausanne, Switzerland, 2003CIRA: Control de Systems Robotic for Manipulation and Cooperation, Bertinoro, Italy, 2003ICRA’03: Planning and Control of Mobile Manipulators, Taiwan, 2003IARP: Biologically Motivated Service Robotics, Jena, Germany 1999ICRA’99: Personal Robotics, Detroit 1999.Personal Robotics, NSF Workshop, Toulouse, France, 1999.Robotics: Emerging Technologies, InterMach’98, Bangkok, Thailand 1998Service Robotics, IFR, Milan, Italy, 1997Research on Advanced Robotics, RSJ, Tokyo, 1997Service Robotics, ICAR’97, Monterey, USA, 1997Multi-Robot Cooperation: Current Trends, IROS’97, Grenoble, France, 1997Dynamic Simulations, IROS’97, Grenoble, France, 1997Autonomous Robotic Systems, ISR, Coimbra, Portugal, 1997Research on Advanced Robotics, RSJ, Tokyo, 1997The Stanford Mobile Manipulator Platforms, RSJ, Niigata, Japan, 1996Information Processing for Intelligent Service Robots, IEEE/ICRA, Minnesota, 1996Force and Contact Control in Robotic Operations, IEEE/ICRA, Minnesota, 1996Task-Driven Intelligent Robotics, IEEE/ICRA, Nagoya, 1995The Role of Physical Models in Robot Planning, WAFR, San Francisco, 1994Sensor-Based Robotic Manipulation, IROS, Yokohama, 1993A Framework for Multi-Grasp Manipulation, IEEE/WWW, Nagoya, 1993Force Control: Historical Perspective and Current Technologies, IEEE/ICRA, Atlanta, 1993The Role of Dynamic Control in Contemporary and Tomorrow’s Robotics, Udine, 1992Critical Issues and Challenges in Robotics and Automation, Toulouse, 1991Industrial Robotics Applications (UNIDO), Istanbul, Turkey, August, 1990Technical Forum on Flexible Automation, Kyoto, Japan, 1990.

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Satellite Services System Working Group, Huntington Beach, California, 1988Shared Autonomous and Teleoperated Manipulator Control, Philadelphia, Penn., 1988Mars Rover Technology Workshop, JPL, Pasadena, California, 1987Object Manipulation in Robot Systems, RESNA, San Jose, California, 1987Automatic Robot Programming Workshop, MIT, Cambridge, 1987Coordinated Multiple Robot Manipulators Workshop, San Diego, California, 1987.

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PUBLICATIONS

Books

1. Khatib, V. Kumar, G. J. Pappas: Experimental Robotics, The Eleventh International Sympo-sium, [ISER’08, Athens, Greece], Springer 2009

2. B. Siciliano and O. Khatib: The Handbook of Robotics, Springer, 2008.3. O. Khatib, V. Kumar, D. Rus: Experimental Robotics, The 10th International Symposium

on Experimental Robotics [ISER’06, Rio de Janeiro, Brazil] Springer 20084. M. H. Ang Jr., O. Khatib: Experimental Robotics IX, The 9th International Symposium on

Experimental Robotics [ISER 2004, Singapore] Springer 20065. A. T. de Almeida and O. Khatib: Autonomous Robotic Systems, Springer-Verlag, 1998.6. O. Khatib, J. K. Salisbury Jr.: Experimental Robotics IV, The 4th International Symposium

[ISER’95 Stanford, California, USA], Springer 19977. O. Khatib, J. Craig, and T. Lozano-Perez: The Robotics Review 2, MIT Press, 1992.8. V. Hayward and O. Khatib: Experimental Robotics I, The First International Symposium

[ISER’89 Montreal, Canada], Springer-Verlag, 1990.9. O. Khatib, J. Craig, and T. Lozano-Perez: The Robotics Review 1, MIT Press, 1989.

Book Contributions

10. E. Demircan, T. Besier, S. Menon, and O. Khatib. Human Motion Reconstruction and Syn-thesis of Human Skills. In Advances in Robot Kinematics: Motion in Man and Machine,Lenarcic, Jadran; Stanisic, Michael M. (Eds.), Springer 2010, pp. 283-292

11. O. Khatib, L. Sentis, and J. Park. A Unified Framework for Whole-Body Humanoid RobotControl with Multiple Constraints and Contacts. In H. Bruyninckx, L. Preucil, and M.Kulich, Eds., European Robotics Symposium 2008. Springer Tracts in Advanced Robotics,Vol. 44, Springer 2009, Berlin, Heidelberg, Germany, pp. 303-312

12. D. Shin, I. Sardellitti, Y.-L. Park, O. Khatib, and M. R. Cutkosky. Design and Control ofa Bio-inspired Human-Friendly Robot. In O. Khatib, V. Kumar, and G. J. Pappas., Eds.,Experimental Robotics. Springer Tracts in Advanced Robotics, Vol. 54, Springer 2009,Berlin, Heidelberg, Germany, pp. 43-52.

13. F. Conti, O. Khatib. A new Actuation Approach for Haptic Interface Design, ExperimentalRobotics X, O. Khatib, V. Kumar, D. Rus (Eds.), STAR, Springer Tracts in Advanced Robotics2008.

14. De Sapio V., Warren, J., Khatib, O. Predicting Reaching Postures Using a KinematicallyConstrained Shoulder Model. In J. Lenarcic and B. Roth, editors, Advances in Robot Kine-matics, pp. 209218. Springer, 2006.

15. V. De Sapio, J. Warren, O. Khatib. Predicting Reaching Postures Using a Kinematically Con-strained Shoulder Model. J. Lenarcic and B. Roth, (Eds.), Advances in Robot Kinematics,pp. 209-218. Springer, 2006.

16. J. Park and O. Khatib. Robust Haptic Teleoperation of a Mobile Manipulation Platform.Experimental Robotics IX, Ang M. and Khatib, O.(Eds.), STAR Springer Tracts in AdvancedRobotics, (2006) 543-554.

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17. Khatib, O., Warren, J., De Sapio, V., and Sentis, L. “Human-Like Motion From Physiologically-Based Potential Energies,” On Advances in Robot Kinematics, J. Lenarcic and C. Galletti(Eds.), pp. 149-163, Kluwer Academic Publishers, 2004.

18. Zinn, M., Khatib, O., Roth, B., and Salisbury, K. “Actuations Method for Human-CenteredRobotics and Associated Control Challenges,” Control Problems in Robotics, A. Bicchi, H.Christensen, and D. Prattichizzo (Eds.), STAR, Springer 2003, pp.105-120.

19. Liu, J. and Khatib, O. “Potential Fields and Neural Networks,” The Handbook of Brain,Theory and Neural Networks, Michael A. Arbib (Ed.), 2nd Edition, MIT Press 2002.

20. O. Khatib, O. Brock, K.-S. Chang, F. Conti, D. Ruspini, and L. Sentis. Efficient algorithmsfor robots with human-like structures and interactive haptic simulation,” Advances in RobotKinematics: Theory and Applications, Eds, Lenarcic, J. and Thomas, F., Kluwer AcademicPublishers 2002, pp. 89-98.

21. D. Ruspini and O. Khatib. “Simulation with Contact for Haptic Interaction,” Touch in VirtualEnvironments, McLaughlin, M., Hespanha, J.P. and Sukhatme, G.S., Eds., Prentice-Hall,2001 pp. 32-46.

22. D. Ruspini and O. Khatib. “Haptics for Virtual Prototyping,” Recent Advances in Mecha-tronics, O. Kaynak, S. Tosunoglu, M. Ang, Jr, Eds., Springer 1999, pp. 294-303.

23. O. Khatib. “Mobile Manipulator System,” Autonomous Robotic Systems, A. T. de Almeidaand O. Khatib, eds., Springer-Verlag, 1998, pp. 141-148.

24. O. Khatib. “A Unified Approach to Motion and Force Control of Robot Manipulators: TheOperational Space Formulation,” Robot Control: Dynamics, Motion Planning and Analysis,M. W. Spong, F. L. Lewis and C. T. Abdallah, eds. IEEE Press, 1993, pp. 277-287.

25. O. Khatib. “Real-Time Obstacle Avoidance for Manipulators and Mobile Robots,” Au-tonomous Mobile Robots: Perception, Mapping, and Navigation, S. S. Iyengar and A. Elfes,eds., IEEE Computer Society Press, 1991, vol. 1, pp. 428-436.

26. O. Khatib. “Real-Time Obstacle Avoidance for Manipulators and Mobile Robots,” Au-tonomous Robot Vehicles, I. Cox and G. Wilfong, eds., Springer-Verlag Berlin Heidelberg,1990, pp.389-404.

27. O. Khatib. “The Potential Field Approach and Operational Space Formulation in RobotControl,” Adaptive and Learning Systems: Theory and Applications, K.S. Narendra, ed.,Plenum Press, 1986, pp. 367-377.

Special Issues - Journals

28. O. Khatib, V. Kumar, G. J. Pappas: Editorial: Special Issue on The Eleventh InternationalSymposium on Experimental Robotics. I. J. Robotic Res. 29(5): 483-484 (2010)

29. O. Khatib, V. Kumar, D. Rus: Editorial: Special Issue on the Tenth International Symposiumon Experimental Robotics. I. J. Robotic Res. 28(6): 2009

30. P. Dario, D. R. Meldrum, O. Khatib: Special Issue on BioRobotics. I. J. Robotic Res. 26(11-12): 2007

31. R. Chatila, P. Dario, O. Khatib: Special Issue on the 11th International Symposium onRobotics Research. I. J. Robotic Res. 24(9): 2005

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32. M. Ang, O. Khatib: Special Issue on the 9th International Symposium on Robotics Research.I. J. Robotic Res. 25(9): 2006

Journal Papers

33. A. Petrovskaya, O. Khatib. Global Localization of Objects via Touch. IEEE Transactions onRobotics Vol. 27, No. 3, pp. 569-585, June 2011

34. L. Sentis, J. Park, and O. Khatib. Compliant Control of Multi-Contact and Center of MassBehaviors in Humanoid Robots. IEEE Trans. on Robotics. Vol. 26, No. 3, pp. 483-501,June 2010

35. D. Shin, I. Sardellitti, Y.-L. Park, O. Khatib, and M. Cutkosky. Design and Control of aBio-Inspired Human-Friendly Robot. The International Journal of Robotics Research. Vol.29, No. 5, pp. 571-584, April 2010

36. O. Khatib, E. Demircan, V. DeSapio, L. Sentis, T. Besier, S. Delp, Robotics-based Synthesisof Human Motion J Physiol Paris. 103(3-5):211-9. August 2009

37. F. Conti, O. Khatib, A New Actuation Approach for Haptic Interface Design The Interna-tional Journal of Robotics Research vol. 28, no. 6, pp. 834-848, June 2009

38. N. Mansard, O. Khatib, A. Kheddar: A Unified Approach to Integrate Unilateral Constraintsin the Stack of Tasks. IEEE Transactions on Robotics 25(3): 670-685 (2009)

39. J. Park and O. Khatib, Robot Multiple Contact Control Robotica 2008, Vol. 26, Issue 05,Sept 2008, 667-677

40. A. Bowling and O. Khatib. Dynamic performance in the modular design of redundantmacro/mini manipulators. ASME Journal of Mechanical Design, vol. 130, no. 9, pages092301(1-11), September 2008

41. De Sapio V, Khatib O, Delp S. (2008). Least action principles and their application to con-strained and task-level problems in robotics and biomechanics. Multibody System Dynam-ics. 19, 303-322, April 2008

42. V. De Sapio, O. Khatib, S. Delp, Task-Level Approaches for the Control of ConstrainedMultibody Systems. Multibody System Dynamics, vol. 16, no. 1, pp. 73-102, August 2006.

43. J. Park and O. Khatib. A Haptic Teleoperation Approach Based on Contact Force Control.The International Journal of Robotics Research, Vol. 25, No. 5-6 (2006) 575-591.

44. R. Cortesao, J. Park, O. Khatib. Real-Time Adaptive Control for Haptic Tele-Manipulationwith Kalman Active Observers. IEEE Transactions on Robotics, Vol.22, No.5 (2006) 987-999.

45. V. De Sapio, J. Warren, O. Khatib, and S. Delp “Simulating the Task-level Control of HumanMotion: A Methodology and Framework for Implementation,” The Visual Computer 25(1),June 2006.

46. L. Sentis and O. Khatib. Synthesis of whole-body behaviors through hierarchical control ofbehavioral primitives, International Journal of Humanoid Robotics, 2(4):505-518, Decem-ber 2005.

47. Bowling, A. and Khatib, O. ”The dynamic capability equations: A new tool for analyzingmanipulator dynamic performance” IEEE Transactions on Robotics, 21(1), pp. 115 - 123,2005

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48. R. Jamisola, M. Ang Jr, O. Khatib, D-N. Oetomo, T-M. Lim, S.-Y., Lim, “Compliant Mo-tion using a Mobile Manipulator: An Operational Space Formulation Approach to AircraftCanopy Polishing,” Advanced Robotics, 19(5), 477–634, 2005

49. Khatib, O. Sentis, L., Park, J. and Warren, J. “Whole Body Dynamic Behavior and Controlof Human-Like Robots, International Journal of Humanoid Robotics, 1(1): 29-44, 2004.

50. Zinn, M., Khatib, O., Roth, B., and Salisbury, K. “A New Actuation Approach for Human-friendly Robot Design,” International Journal of Robotics Research, 23(4/5) 379-398, 2004.

51. Zinn, M., Khatib, O., Roth, B., and Salisbury, K. “Towards a Human-centered Intrinsically-Safe Robotic Manipulator,” IEEE Robotics and Automation Magazine, 11(2) 12-21, June2004.

52. Zinn, M., Khatib, O., Roth, B., and Salisbury, K. “A New Actuation Approach for Human-friendly Robot Design,” International Journal of Robotics Research, 23(4/5) 379-398, April-May 2004.

53. O. Khatib, O. Brock, K.C. Chang, D. Ruspini, L. Sentis, S. Viji Human-Centered Roboticsand Interactive Haptic Simulation, International Journal of Robotics Research, Vol 23, No.2, Feb. 2004, pp. 167-178.

54. Bowling, O. and Khatib, O. “The Dynamic Loading Criteria in Actuator Selection for De-sired Dynamic Performance. Advanced Robotics, vol. 17, no. 7, pp. 641-656, Nov. 2003.

55. Brock, O. and Khatib, O. “Elastic Strips: A Framework for Motion Generation in HumanEnvironments,” International Journal of Robotics Research, Vol. 21 No. 12, Dec 2002, pp.1031-1052

56. O. Khatib, O. Brock, K.-S. Chang, F. Conti, D. Ruspini, and L. Sentis. Robotics and Inter-active Simulation, Communications of the ACM, vol. 45, no. 3, pp. 46-51, March 2002.

57. D. Ruspini and O. Khatib. “Haptic Display for Human Interaction with Virtual DynamicEnvironments,” Journal of Robotics Systems, special issue on Biorobotics and HumanoidRobotics, vol. 18, issue 12, pp. 769-783, December 2001.

58. O. Khatib, K. Yokoi, O. Brock, K. Chang, and A. Casal. “Robots in Human Environments,”Archives of Control Sciences, special issue on Recent Developments in Robotics, Part I, vol.11 (XLVII), no. 3/4, pp. 123-138, 2001.

59. K-S. Chang and O. Khatib “Efficient recursive algorithm for the operational space inertiamatrix of branching mechanisms,” Advanced Robotics, v. 14(8) pp. 703-715 2001.

60. Holmberg, R. and Khatib. O. “Development and Control of a Holonomic Mobile Robot forMobile Manipulation Tasks,” International Journal of Robotics Research, vol. 19, no. 11,2000, pp. 1066-1074

61. O. Khatib, K. Yokoi, O. Brock, K. Chang, and A. Casal. “Robots in Human Environments:Basic Autonomous Capabilities,” International Journal of Robotics Research, vol. 18, no.7, 1999, pp. 684-696.

62. O. Khatib. “Mobile Manipulation: The Robotic Assistant,” Journal of Robotics and Au-tonomous Systems, vol. 26, 1999, pp.175-183.

63. O. Khatib, S. Quinlan, and D. Williams. “Robot Planning and Control,” Journal of Roboticsand Autonomous Systems, vol. 21, 1997, pp. 249-261.

64. R. Featherstone and O. Khatib. “Load-Independence of the Dynamically-Consistent Inverse

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of the Jacobian Matrix,” International Journal of Robotics Research, vol. 16, no. 2, 1997,pp. 168–170.

65. O. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, and A. Casal. “Coordination andDecentralized Cooperation of Multiple Mobile Manipulators,” Journal of Robotic Systems,vol. 13, 1996, pp. 755-64.

66. O. Khatib. “The Impact of Redundancy on the Dynamic Performance of Robots,” Journal ofLaboratory Robotics and Automation, Vol. 8, 1996, pp.37-48.

67. D. Vischer and O. Khatib. “Design and Development of High Performance Torque Con-trolled Joints,” IEEE Transactions on Robotics and Automation, vol. 11, no. 4, August1995, pp. 537-544.

68. O. Khatib. “ Inertial Properties in Robotics Manipulation: An Object-Level Framework,”International Journal of Robotics Research, vol. 14, no. 1, February 1995. pp. 19-36.

69. O. Khatib. “The Operational Space Framework,” JSME International Journal, series C, vol.36, 1993, pp. 277-287.

70. L. Pfeffer, O. Khatib, and J. Hake. “Joint Torque Sensory Feedback in the Control of aPUMA Manipulator,” IEEE transactions on Robotics and Automation, vol. 5, no. 4, 1989,pp. 418-425.

71. S. Shekhar, O. Khatib, and M. Shimojo. “Object Localization with Multiple Sensors,” Inter-national Journal of Robotic Research, vol. 7, no. 6, 1988, pp. 34-44.

72. J.J. Slotine, O. Khatib, and D. Ruth. “Robust Operational Space Control for Goal PositionedManipulator Tasks,” International Journal of Robotics and Automation, vol. 3, no. 1, 1988,pp. 28-34.

73. O. Khatib and J. Burdick. “Optimization of Dynamics in Manipulator Design: The Opera-tional Space Formulation,” International Journal of Robotics and Automation, vol. 2, no. 2,1987, pp. 90-98.

74. O. Khatib. “A Unified Approach to Motion and Force Control of Robot Manipulators: TheOperational Space Formulation,” IEEE Journal on Robotics and Automation, vol. 3, no. 1,February 1987, pp. 43-53.

75. O. Khatib. “Real-Time Obstacle Avoidance for Manipulators and Mobile Robots,” Interna-tional Journal of Robotic Research, vol. 5, no. 1, Spring 1986, pp. 90-98.

Conference Papers

76. E. Demircan, T. F. Besier, and O. Khatib. Muscle Force Transmission to Operational SpaceAccelerations During Elite Golf Swings. In Proc. of the IEEE International Conference onRobotics and Automation, pp. 1464-1469, St Paul, MN, USA, May 2012.

77. F. Flacco, T. Krger, A. De Luca, and O. Khatib. A Depth Space Approach to Human-Robot Collision Avoidance. In Proc. of the IEEE International Conference on Robotics andAutomation, pp. 338-345, Saint Paul, MN, USA, May 2012.

78. F. Flacco, T. Kroger, A. De Luca, and O. Khatib. A Depth Space Approach to Human-RobotCollision Avoidance. In Workshop on Human-Friendly Robotics, Twente, The Netherlands,November 2011

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79. F. Flacco, T. Kroger, A. De Luca, and O. Khatib. Collision Avoidance in Depth Space. InWorkshop on RGB-D: Advanced Reasoning with Depth Cameras at Robotics Science andSystems, Los Angeles, CA, USA, June 2011

80. R. Philippsen, L. Sentis, O. Khatib. An Open Source Extensible Software Package to CreateWhole-Body Compliant Skills in Personal Mobile Manipulators. IEEE/RSJ InternationalConference on Intelligent Robots and Systems (IROS), pp. 1036-1041, San Francisco, USA,September 2011

81. E. Demircan and O. Khatib. Task-Level Reconstruction and Analysis of Dynamic Motionsin Human Musculoskeletal Systems. In Workshop on Robotics for Neurology and Rehabil-itation at the IEEE/RSJ International Conference on Intellegent Robots and Systems, SanFrancisco, USA, September 2011

82. E. Klingbeil, D. Rao, B. Carpenter, V. Ganapathi, A. Y. Ng, O. Khatib. Grasping with Ap-plication to an Autonomous Checkout Robot. Int. Conf. Robotics and Automation (ICRA),pp. 2837-2844, Shanghai, China, May 2011

83. S. Menon, O. Khatib. Controlling Biomechanical Models To Move Like Humans Do. (Ab-stract), Biomechanical Engineering Conference at Stanford, 2011

84. D. Shin, X. Yeh, O. Khatib. Variable Radius Pulley Design Methodology for Pneumatic Ar-tificial Muscle-based Antagonistic Actuation systems. IEEE/RSJ International Conferenceon Intelligent Robots and Systems (IROS), pp. 1830-1835, San Francisco, USA, September2011

85. S. Phan, Z. F. Quek, P. Shah, D. Shin, Z. Ahmed, O. Khatib, M. R. Cutkosky. Capacitive SkinSensors for Robot Impact Monitoring. IEEE/RSJ International Conference on IntelligentRobots and Systems (IROS), pp. 2992-2997, San Francisco, USA, September 2011

86. D. Shin, Z. F. Quek, S. Phan, M. R. Cutkosky, O. Khatib. Instantaneous Stiffness Effects onImpact Forces in Human-Friendly Robots. IEEE/RSJ International Conference on IntelligentRobots and Systems (IROS), pp. 2998-3003, San Francisco, USA, September 2011

87. D. Shin, F. Seitz, O. Khatib, and M. R. Cutkosky. Analysis of Torque Capacities in HybridActuation for Human-Friendly Robot Design. In Proc. of the IEEE International Conferenceon Robotics and Automation, Anchorage, May 2010

88. A. Petrovskaya, S. Thrun, D. Koller, and O. Khatib. Towards Dependable Perception: Guar-anteed Inference for Global Localization. Mobile Manipulation Workshop (MMW 2010)Robotics Science and Systems (RSS), Zaragoza, Spain, June 2010

89. A. Petrovskaya, S. Thrun, D. Koller, and O. Khatib. Towards Dependable Perception: Guar-anteed Inference for Global Localization. Dependable Robots in Human EnvironmentsWorkshop (DRHE 2010), Toulouse, France, June 2010

90. O. Khatib. Robots and the Human. International Conference on Simulation, Modeling andProgramming (SIMPAR), Darmstadt, Germany, 2010

91. E. Demircan and O. Khatib. Robotics-Based Human Dynamic Performance Analysis. InElsevier, Journal of Biomechanics Vol 43, Suppl 1. International Conference on OrthopeadicSurgery, Biomechanics and Clinical Applications, London, June, 2010

92. E. Demircan, O. Khatib, J. Wheeler and S. Delp, Reconstruction and EMG-Informed Con-trol, Simulation and Analysis of Human Movement for Athletics: Performance Improvementand Injury Prevention 31st Annual International IEEE EMBS Conference, September 2009,

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Minneapolis, Minnesota93. L. Sentis, M. Mintz, A. Ayyagari, C. Battles, S. Ying, O. Khatib, Large Scale Multi-Robot

Coordination Under Networ k and Geographical Constraints IEEE International Symposiumof Industrial Electronics (ISIE-09), Seoul 2009

94. L. Sentis, J. Park, and O. Khatib. Modeling and Control of Multi-Contact Centers of Pressureand Internal Forces in Humanoid Robots. In Proc. of the IEEE/RSJ International Conferenceon Intelligent Robots and Systems (IROS), pp. 453-460, St. Louis, October 2009

95. T. Yoshikawa and O. Khatib. Compliant Humanoid Robot Control by the Torque Trans-former. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Sys-tems (IROS), pp. 3011-3018, St. Louis, October 2009

96. D. Shin, O. Khatib, M. Cutkosky, Design Methodologies of a Hybrid Actuation Approachfor a Human-Friendly Robot Int. Conf. Robotics and Automation (ICRA), Kobe, Japan,May 2009

97. O. Khatib, L. Sentis, and J. Park, A Unified Framework for Whole-Body Humanoid RobotControl With Multiple Constraints and Contacts, Springer Tracts in Advanced Robotics -STAR Series, European Robotics Symposium (EURON), Prague, Czech Republic, March2008.

98. D. Shin, I. Sardellitti, Y.-L. Park, O. Khatib, M. R. Cutkosky Design and Control of a Bio-inspired Human-Friendly Robot. ISER 2008: Athens, Greece

99. S. Burion, F. Conti, A. Petrovskaya and O. Khatib. Identifying Physical Properties of De-formable Objects by Using Particle Filters. Proc. of the 2008 IEEE Int. Conf. Robotics andAutomation

100. D. Shin, I. Sardellitti, and O. Khatib. A Hybrid Actuation Approach for Human-FriendlyRobot Design. Proc. of the 2008 IEEE Int. Conf. Robotics and Automation

101. N. Mansard and O. Khatib. Continuous control law from unilateral constraints. Proc. of the2008 IEEE Int. Conf. Robotics and Automation

102. T. Yoshikawa, O. Khatib: Compliant motion control for a humanoid robot in contact with theenvironment and humans. Proc.of IEEE/RSJ International Conference on Intelligent Robotsand Systems, 2008: 211-218

103. O. Khatib, P. Thaulad, T. Yoshikawa, J. Park: Torque-position transformer for task controlof position controlled robots. Proc. of the 2008 IEEE Int. Conf. Robotics and Automation,1729-1734

104. I. Sardellitti, J.. Park, D. Shin and O. Khatib. Air Muscle Controller Design in the DistributedMacro-Mini (DM2) Actuation Approach, Proc.of IEEE/RSJ International Conference onIntelligent Robots and Systems, San Diego, 2007

105. A. Petrovskaya, O. Khatib, S. Thrun, and A. Y. Ng. Touch Based Perception for Object Ma-nipulation. Robotics Science and Systems Conference (RSS), Robot Manipulation Workshop,Atlanta, GA, 2007.

106. A. Petrovskaya, J. Park, and O. Khatib. Probabilistic Estimation of Whole Body Contacts forMulti-Contact Robot Control. Proceedings of the IEEE International Conference in Roboticsand Automation, Rome, Italy, April 2007.

107. F. Conti and O. Khatib, C. Baur. A Hybrid Actuation Approach for Haptic Interfaces. Pro-

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ceedings IEEE WorldHaptics 2007, Tsukuba, Japan, March 2007.108. F. Conti and O. Khatib. A new actuation approach for haptic interface design. Pre-prints

ISER 2006, Rio de Janeiro, Brazil, June 2006109. V. De Sapio, K.S. Holzbaur, O. Khatib. The Control of Kinematically Constrained Shoul-

der Complexes: Physiological and Humanoid Examples, IEEE Int. Conf. Robotics andAutomation, Orlando, Florida, May 2006.

110. J. Park and O. Khatib. Contact Consistent Control Framework for Humanoid Robots. IEEEInternational Conference on Robotics and Automation, pp.1963-1969, Orlando, Florida 15-19 May 2006.

111. A. Petrovskaya, O. Khatib, S. Thrun, A. Y. Ng. Bayesian Estimation for Autonomous ObjectManipulation Based on Tactile Sensors. IEEE Int. Conf. Robotics and Automation, Orlando,Florida 15-19 May 2006.

112. L. Sentis and O. Khatib, A Whole-Body Control Framework for Humanoid Operating in Hu-man Environments, IEEE International Conference in Robotics and Automation, Orlando,Florida, May 2006.

113. Bowling, A. and Khatib, O. “The Actuation Efficiency, a Measure of Acceleration Capabilityfor Non-Redundant Robotic Manipulators.” Journal of Robotic Systems, vol. 22, no. 12,pages 759-766, December 2005.

114. Sentis, L. and Khatib, O. Control of Free-Floating Humanoid Robots Through Task Prioriti-zation, Proc. IEEE International Conference in Robotics and Automation, Barcelona, Spain,2005, pp. 1718 - 1723.

115. Park, J.; Khatib, O. Multi-Link Multi-Contact Force Control for Manipulators, Proc. IEEEInternational Conference on Robotics and Automation, Barcelona, Spain, 18-22 April 2005,pp. 3613 - 3618.

116. De Sapio, V, Khatib, O. ”Operational Space Control of Multibody Systems with ExplicitHolonomic Constraints.” Proc. IEEE International Conference on Robotics and Automation,April 2005, pp. 2950 - 2956.

117. Cortesao, R.; Park, J.; Khatib, O. Telepresence and Stability Analysis for Haptic Tele-Manipulation with Short Time Delay, Proc. IEEE/RSJ Int. Conf. Intelligent Robots andSystems, 2005, pp. 3146 - 3151

118. Kyoobin Lee; Jaeheung Park; Khatib, O.; Dong-Soo Kwon. Feedforward global/inertialsensor fusion algorithm for accurate global positioning of a mobile robot, Proc. IEEE/ASMEInt. Conf. Advanced Intelligent Mechatronics, 2005, pp. 504 - 509.

119. Conti, F. Khatib, O. Spanning large workspaces using small haptic devices. Proc. Eurohap-tics on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 18-20 March2005, pp. 183 - 188

120. Sentis, L. and Khatib, O. Task-Oriented Control of Humanoid Robots Through Prioritization,Proc. IEEE-RAS/RSJ International Conference on Humanoid Robots, Santa Monica, USA,November 2004.

121. Sentis, L. and Khatib, O. “Task-Oriented Control of Humanoid Robots Through Prioritiza-tion,” Proc. IEEE-RAS/RSJ International Conference on Humanoid Robots, Santa Monica,USA, November 2004.

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122. Zinn, M., Khatib, O., and Roth, B. “A New Actuation Approach for Human-friendly RobotDesign,” Proc. IEEE International Conference on Robotics and Automation, New Orleans,April 26-May 1, 2004, pp. 249-254.

123. Khatib, O. Brock, O., Chang, K.S., Ruspini, D., Sentis, L., and Viji, S. “Robots for theHuman and Interactive Simulations,” Proc. 10th IFToMM World Congress on the Theory ofMachines and Mechanisms,, Tianjin, China, April 2004, pp. 1572-1576.

124. Cortesao, R., Park, J., and Khatib, O. “Real-Time Adaptive Control for Haptic Manipula-tion with Active Observers,” Proc. of IEEE/RSJ Int. Conference on Intelligent Robots andSystems – IROS2003, Las Vegas, 2003.

125. Bowling, A. and Khatib, O. “Non-Redundant Robotic Manipulator Acceleration Capabilityand the Actuation Efficiency Measure,” Proc. of IEEE/RSJ Int. Conference on IntelligentRobots and Systems – IROS2003, Las Vegas, 2003.

126. Park, J., Cortesao, R., Khatib, O. “Teleoperation for Compliant Motion Task,” Proc. Inter-national Conference on Advanced Robotics, Coimbra, Portugal, July 2003.

127. Conti, F., Khatib, O. Baur, C. “Interactive rendering of deformable objects based on a fill-ing sphere modeling approach,”‘em Proc. IEEE International Conference on Robotics andAutomation, Taipei, 2003.

128. Khatib, O. “Human-centered Robotics and Haptic Interaction: From Assistance to Surgery,the Emerging Applications,” Proc. Third International Workshop on Robot Motion and Con-trol, RoMoCo’02, Bukowy, Poland, November 2002, pp. 137-139.

129. Bowling, A. and Khatib, O. “Actuator Selection for Desired Dynamic Performance,” Proc.of IEEE/RSJ Int. Conference on Intelligent Robots and Systems – IROS2002, Lausanne,Switzerland, 2002

130. Zinn, M., Khatib, O., Roth, B., Salisbury, J.K. “Towards A Human-Centered Intrinsically-Safe Robotic Manipulator,” Proc. Second IARP - IEEE/RAS Joint Workshop on Techni-cal Challenges for Dependable Robots in Human Environments, Toulouse, France, October2002

131. Minguez, J., Montano, L., Khatib, O. “Reactive Collision Avoidance for Navigation withDynamic Constraints,” Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems– IROS2002, Lausanne, Switzerland, 2002

132. Zinn, M., Khatib, O., Roth, B., Salisbury, J.K. “A New Actuation Approach for HumanFriendly Robot Design,” Experimental Robotics VIII, B. Siciliano and Paolo Dario (Eds.)Star, Springer Tracts in Advanced Robotics, 2002, pp. 113-122.

133. D. Oetomo, M.H. Ang Jr., R. Jamisola and O. Khatib, “Integration of Torque ControlledArm with Velocity Controlled Base for Mobile Manipulation,” Ro.Man.Sy 14, Proc. CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Udine, July 2002,pp. 189-200.

134. Khatib, O., Brock, O., Chang, K.-S., Ruspini, D., Sentis, L. and Viji, S. Human-CenteredRobotics and Interactive Haptic Simulation. Robotics Research, The Tenth Symposium, R.A. Jarvis and A. Zelinsky (Eds.) Star, Springer Tracts in Advanced Robotics, 2002, pp.239-253.

135. Brock, O., Khatib, O. and Viji, S. “Task-Consistent Obstacle Avoidance and Motion Be-havior for Mobile Manipulation,” Proc. IEEE International Conference on Robotics and

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Automation 2002, Washingtion, USA, 2002136. N. Turro, O. Khatib, and E. Coste-Maniere. “Haptically Augmented Teleoperation,” Proc.

IEEE International Conference on Robotics and Automation, Seoul, Korea, May 2001,pp.366-392.

137. Brock, O. and Khatib, O. “Integrated Planning and Execution: Elastic Strips,” Proc. TheWorld Automation Congress, Maui, USA, 2000.

138. O. Khatib, “Robots in Human Environments,” Proc. International Conference on Control,Automation, Robotics, and Vision, ICRACV2000, December 2000, Singapore, pp. 454-457.

139. N. Turro and O. Khatib. “Haptically Augmented Teleoperation,” Preprints, 7th InternationalSymposium on Experimental Robotics (ISER2000), Hawaii, December 2000, pp.1-10.

140. D. Ruspini and O. Khatib, “A Framework for Multi-Contact Multi-Body Dynamic Simu-lation and Haptic Display,” Proc. of IEEE/RSJ Int. Conference on Intelligent Robots andSystems – IROS2000, Takamatsu, Japan, October 2000, pp. 1322-1327.

141. R. Holmberg and O. Khatib, “A Powered-Caster Holonomic Robotic Vehicle for Mobile Ma-nipulation Tasks,” Ro.Man.Sy 13, Proc. CISM-IFToMM Symposium on Theory and Practiceof Robots and Manipulators, Zakopane, Poland July 2000, pp. 157-167.

142. D. Ruspini and O. Khatib. “A Framework for Multi-Contact Multi-Body Dynamic Simu-lation and Haptic Display,” Proc. ARK 7, International Symposium on Advances in RobotKinematics, Piran, Slovenia, June 2000, pp. 175-186.

143. A. Bowling and O. Khatib, “Robot Acceleration Capability: The Actuation Efficiency Mea-sure,” Proc. IEEE International Conference on Robotics and Automation, San Francisco,April 2000, pp. 3971-3976

144. K.-S. Chang and O. Khatib, “Operational Space Dynamics: Efficient Algorithms for Mod-eling and Control of Branching Mechanisms,” Proc. IEEE International Conference onRobotics and Automation, San Francisco, April 2000, pp. 850-856.

145. H. Bruyninckx and O. Khatib,, ‘Gauss’ Principle and the Dynamics of Redundant and Con-strained Manipulators,” Proc. IEEE International Conference on Robotics and Automation,San Francisco, April 2000, pp. 2563-2568.

146. O. Brock and O. Khatib, “Real-Time Replanning in High-Dimensional Configuration SpacesUsing Sets of Homotopic Paths,” Proc. IEEE International Conference on Robotics andAutomation, San Francisco, April 2000, pp. 550-555.

147. K.-S. Chang, R. Holmberg and O. Khatib, “The Augmented Object Model: CooperativeManipulation and Parallel Mechanism Dynamics,” Proc. IEEE International Conference onRobotics and Automation, San Francisco, April 2000, pp. 470-475.

148. D. Ruspini and O. Khatib, “Collision/Contact Models for Dynamic Simulation and Hap-tic Interaction,” Proc. ISRR’99, the Ninth International Symposium of Robotics Research,Snowbird, Utah, 1999 Springer, pp. 185-194.

149. Khatib, O. Yokoi, K., Brock, O., Chang, K.S., and Casal, A. “Robots in Human Environ-ment,” Proc. Third International Workshop on Robot Motion and Control, RoMoCo’02,Poznan, Poland, 1999, pp. 213-221.

150. K.C. Chang and O. Khatib, “Efficient Algorithm for Extended Operational Space InertiaMatrix,” Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems – IROS’99,

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Kyongju, Korea, 1999, pp. 350-355.151. R. Jamisola, M. Ang Jr, T-M. Lim, O. Khatib, S.-Y., Lim, “Dynamics Identification and

Control of an Industrial Robot.” Proc. Ninth International Conference on Advance Robotics,ICRA’99, Tokyo, Japan, Oct 25-27, 1999, pp. 323-328.

152. Liu, J. and Khatib, O., “Practical connection between potential fields and neural networks,”Proceedings of the Workshop on Intelligent Manipulation for Manufacturing Automation,Hong Kong, 1999.

153. R. Holmberg and O. Khatib, “Development of a Holonomic Mobile Robot for Mobile Ma-nipulation Tasks,” Proc. International Conference on Field and Service Robotics, FSR’99,Pittsburgh, August 1999, pp. 268-273.

154. O. Khatib, K. Yokoi, O. Brock, K. Chang, and A. Casal. “Robots in Human Environments,”Proc. First Workshop on Robot Motion and Control (RoMoCo’99), Kiekrz, Poland, June1999, pp. 213-221.

155. Brock, O. and Khatib, O. “Real-Time Obstacle Avoidance and Motion Coordination in aMulti-Robot Workcell,” Proc. International Symposium on Assembly and Task Planning,Porto, Portugal, July 1999.

156. D. Ruspini and O. Khatib, “Haptics for Virtual Prototyping,” Proc. 9th IFToMM WorldCongress on the Theory of Machines and Mechanisms,, Oulu, Finland, June 1999. vol. 3,pp. 924-929.

157. R. Featherstone, S. Sonck, and O. Khatib, “A general Contact Model for Dynamically-Decoupled Force/Motion Control,” Proc. IEEE International Conference on Robotics andAutomation, Detroit, May 1999, pp 3281-3286.

158. O. Brock and O. Khatib. “High-Speed Navigation Using the Global Dynamic Window Ap-proach,” Proc. IEEE International Conference on Robotics and Automation, Detroit, May1999, pp. 341-346.

159. M. Van der Loos, J. J. Wagner, N. Smaby, K. Chang, O. Madrigal, L. J. Leifer, and O. Khatib.“ProVAR Assistive Robot System Architecture,” Proc. IEEE International Conference onRobotics and Automation, Detroit, May 1999, pp. 741-746.

160. O. Khatib. “The Stanford Robotics Platforms,” Proc. First Asian Symposium on IndustrialAutomation and Robotics, ASIAR’99, Bangkok, May 1999, pp. 1-4.

161. O. Brock and O. Khatib. “Elastic Strips: A Framework for Integrated Planning and Execu-tion,” Preprints, 6th International Symposium on Experimental Robotics (ISER’99), Sydney,March 1999, pp. 245-254.

162. E. Coste-Maniere, N. Turro, and O. Khatib. “A Portable Programming Framework,” Preprints,6th International Symposium on Experimental Robotics (ISER’99), Sydney, March 1999, pp.334-344.

163. A. Bowling and O. Khatib. “The Motion Isotropy Hypersurface: A characterization of Ac-celeration,” Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems – IROS’98,Victoria, B.C., Canada, 1998, pp. 965-971.

164. D. Ruspini and O. Khatib, “Haptics for Multi-Scale Virtual Prototyping,” Proc. 2nd Int.Workshop on Micro Robotic and Systems, Beijing, China, 1998, pp. 172-179.

165. O. Khatib, K. Yokoi, O. Brock, K. Chang, and A. Casal. Robots in Human Environment: Ba-

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sic Autonomous Capabilities,” Proc. 1st International Workshop on Humanoid and Human-Friendly Robotics, Tsukuba, Japan, 1998, pp. III-2:1-11.

166. O. Brock and O. Khatib, “Elastic Strip: Real-Time Path Modification for Mobile Manipula-tion,” Robotics Research, The Eighth International Symposium, Y. Shirai and S. Hirose, eds.Springer 1998, pp. 5-13.

167. A. Bowling and O. Khatib, “Modular Redundant Manipulator Design for Dynamic Perfor-mance,” Ro.Man.Sy 12, Proc. CISM-IFToMM Symposium on Theory and Practice of Robotsand Manipulators, Paris, July 1998. pp. 297-307.

168. D. Ruspini and O. Khatib, “Dynamic Models for Haptic Rendering Systems,” Proc. ARK6, International Symposium on Advances in Robot Kinematics, Strobl, Austria, 1998, pp.523-532.

169. O. Brock and O. Khatib, “Executing Motion Plans for Robots with Many Degrees of Free-dom in Dynamic Environments,” Proc. IEEE International Conference on Robotics andAutomation, Leuven, Belgium, May 1998, Vol. 1, pp.1-6.

170. O. Brock and O. Khatib, “Mobile Manipulation: Collision-Free Path Modification and Mo-tion Coordination.” Proceedings of the 2nd International Conference on ComputationalEngineering in Systems Applications, Hammamet, Tunisia, April 1998, vol 4, pp. 839-845.

171. O. Khatib, K. Yokoi, A. Casal, “Cooperative Tasks in Mobile Manipulation Systems.” Preprintsof the IFAC Workshop on Intelligent Components for Vehicles, ICV’98, Ed. A. Ollero,Seville, Spain, March 1998, pp. 279-284.

172. O. Khatib, “Mobile Manipulators: Expending the Frontiers of Robot Applications,” Proc.Int. Conf. Field and Service Robotics, Canberra, Australia, December 1997, pp. 14-17.

173. O. Brock and O. Khatib, “Elastic Strips: Real-Time Path Modification for Mobile Manip-ulation,” Preprints of ISRR’97, the Eighth International Symposium of Robotics Research,Hayama, Japan, October 1997, pp. 117-122.

174. D. Ruspini, K. Kolarov, and O. Khatib. “Haptic Interaction in Virtual Environments,” Proc.IEEE/RSJ Int. Conf. Intelligent Robots and Systems, IROS’97, Grenoble, France Sep 1997.,pp. 128–133.

175. A. Bowling and O. Khatib, “Design of Non-Redundant Manipulators for Optimal DynamicPerformance,” Proc. ICAR’97, the Eighth International Conference on Advanced Robotics,Monterey, California, 1997, pp. 865-872.

176. D. Ruspini, K. Kolarov, and O. Khatib. “The Haptic Display of Complex Graphical Envi-ronments,” Proceedings SIGGRAPH 97, August 1997, pp. 345-352.

177. Liu, J., Khatib, O., and Tang, Y. Y., “Robot learning and planning based on discrete-eventsystems models,” Proceedings of Workshop on Intelligent Robotics: From the Structured toLess Structured Environments, Hong Kong, July 1997, pp. 57-62.

178. R. Featherstone, S. Sonck, and O. Khatib, “A General Contact Model for Dynamically-Decoupled Force/Motion Control,” Preprints of ISER’97, the Fifth International Symposiumon Experimental Robotics, Barcelona, Catalonia, June 1997, pp. 84-95.

179. J. Liu, Y. Y. Tang, and O. Khatib, “Modeling and Learning Robot Manipulation Strate-gies,” Preprints of ISER’97, the Fifth International Symposium on Experimental Robotics,Barcelona, Catalonia, Spain, June 1997, pp. 579-592.

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180. O. Khatib, “Mobile Robotic Manipulation,” Proc. ICI&C’97, Int. Conf. Informatics andControl, St. Petersburg, Russia, June 1997, pp. 33-39.

181. A. Bowling and O. Khatib, “Design of Macro/Mini Manipulators for Optimal DynamicPerformance,” Proc. IEEE International Conference on Robotics and Automation, Albu-querque, April 1997.

182. O. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, and A. Casal, “DecentralizedCooperation of Multiple Mobile Manipulators,” Proc. of 5th IEEE Int. Workshop on Robotand Human Communication. Tsukuba, Japan, 1996

183. O. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, and A. Casal, “Vehicle/Arm Coor-dination and Multiple Mobile Manipulator Decentralized Cooperation,” Proc. of IEEE/RSJInt. Conf. Intelligent Robots and Systems, IROS’96, Osaka, Japan, 1996, pp. 546-553.

184. O. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, A. Casal, A. Baader. “ForceStrategies for Cooperative Tasks in Multiple Mobile Manipulation Systems,” Robotics Re-search 7, The Seventh International Symposium, G. Giralt and G. Hirzinger, eds., Springer1996, pp. 333-342,

185. O. Khatib and A. Bowling. “Manipulator Design for Dynamic Performance,” Proc. ARK 5,International Symposium on Advances in Robot Kinematics, Slovenia, June 1996, pp. 29-38.

186. O. Khatib. “Mobile Manipulator Systems,” RoManSy 11, Proc. CISM-IFToMM Symposiumon Theory and Practice of Robots and Manipulators, Udine, July 1996, pp. 3-10.

187. D. Williams and O. Khatib. “Wrist Force Sensor Feedback for Improved Actuation Perfor-mance in Conventional Arms,” Proc. 13th IFAC World Congress, San Francisco, July 1996,pp.19-24.

188. O. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, A. Casal. “Cooperative Tasks inMultiple Mobile Manipulation Systems,” Proc. 6th International Symposium on Roboticsand Manufacturing, (ISRAM’96), Montpellier, France, May 1996, pp. 345-350.

189. O. Khatib and A. Bowling. “Optimization of the Inertial and Acceleration Characteristicsof Manipulators,” Proc. IEEE International Conference on Robotics and Automation, Min-neapolis, April 1996, pp. 2883-2889.

190. Y. Abdel-Magid and O. Khatib. “Design of Digital Adaptive Algorithm for Torque-ControlledRobotic Joints,” Proc. 6th Int. Conf. Mechanical Design and Production, MDP-6, January1996, pp. 461-468.

191. O. Khatib. “Robot Planning and Control,” Proc. Int. Workshop on Critical Issues inRobotics, Singapore, October 1995, pp. 65-80.

192. O. Khatib and A. Bowling. “Optimization of the Inertial and Acceleration Characteristicsof Non-Redundant Manipulators,” Proc. 3rd Conference on Mechatronics and Robotics,Paderborn, Germany, October 1995, pp. 500-510.

193. J. Russakow, S. Rock, O. Khatib. “An Operational Space Formulation for Free-Flying,Multi-Arm Space Robot,” Preprints 4th Int. Symposium on Experimental Robotics, Stan-ford, June-July 1995, pp. 278-283.

194. D. Williams and O. Khatib. “Improved Force Control for Conventional Arms Using Wrist-Based Torque Feedback,” Preprints 4th Int. Symposium on Experimental Robotics, Stanford,June-July 1995, pp. 323-328.

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195. O. Khatib. “Mobile Robotic Manipulation,” Proc. 26th Int. Symposium on IndustrialRobotics, Singapore, October 1995, pp. 7-12.

196. O. Khatib. “Cooperative Manipulation in Mobile Robotic Systems,” Proc. 9th IFToMMWorld Congress on the Theory of Machines and Mechanisms,, Milan, Italy August 1995.vol. 3, pp. 2343-2347.

197. O. Khatib. Sensor-Based Control of Robots,” Proc. Int. Conference on Recent Advances inMechatronics, Istanbul, Turkey, August 1995, pp. 1120-1125.

198. A. Bowling and O. Khatib. “Analysis of the Acceleration Characteristics of Non-RedundantManipulators,” Proc. IEEE/RSJ Int. Conference on Intelligent Robots and Systems, Pitts-burgh, August 1995, vol. 2, pp. 323-328.

199. K. Chang and O. Khatib. “Manipulator Control at Kinematic Singularities: A dynamicallyconsistent Strategy. Proc. IEEE/RSJ Int. Conference on Intelligent Robots and Systems,Pittsburgh, August 1995, vol. 3, pp. 84-88.

200. J. Russakow, O. Khatib, and S. Rock. “Extended Operational Space Formulation for Serial-to-parallel Chain (Branching) Manipulators,” Proc. IEEE International Conference on Roboticsand Automation, Nagoya, Japan, May 1995, vol. 1, pp. 1056-1061.

201. A. Bowling and O. Khatib. “Analysis of the Acceleration Characteristics of Manipulators.”RoManSy 10, Proc. CISM-IFToMM Symposium on Theory and Practice of Robots and Ma-nipulators, A. Morecki, G. Bianchi and K. Jaworek eds., Springer-Verlag, 1995, pp. 59-64.

202. O. Khatib. “A Framework for Task-Level Robotics Manipulation,” Robotics Research 6,Proc. 7th Int. Symposium, T. Kanade and R. Paul, eds., IFRR: The International Foundationfor Robotics Research, 1994, pp. 287-304.

203. O. Khatib. “Sensor-Based Robotic Manipulation,” Proc. 2nd Japan-France Congress onMechatronics, Takamatsu, Japan, 1994, pp. 193-198.

204. O. Khatib. “Towards Integrated Planning and Control.” Proc. 4th IFAC Symposium on RobotControl, SY.RO.CO.’94, Capri, Italy, 1994, pp. 351-360.

205. K.S. Chang and O. Khatib. “Dynamically Consistent Strategy for Manipulator Control atSingularities.” Proc. ARK 4, International Symposium on Advances in Robot Kinematics,Ljubljana, Slovenia, 1994, pp.221-228.

206. D. Williams and O. Khatib. “Experiments in Multi-Grasp Manipulation.” ExperimentalRobotics 3, T. Yoshikawa, ed., Springer-Verlag Berlin Heidelberg, 1994, pp. 14-28.

207. D. Williams and O. Khatib. “Modeling and Control of Internal Force Dynamics in Multi-Grasp Manipulation.” Robotics and Manufacturing, Proc. ISRAM’ 94 M. Jamshidl, C.Nauyen, R. Lumia, and J. Yuh eds., ASME Press Series, 1994, vol. 5, pp. 735-741.

208. H. Arai and O. Khatib. “Experiments with Dynamic Skills.” Proc. Japan-USA Symposiumon Flexible Automation, Kobe, Japan, 1994, pp. 81-84.

209. O. Khatib. “Cooperative Mobile Robotic Manipulation,” Proc. ROVPIA’ 94 InternationalConference on Robotics, Vision and Parallel Processing for Industrial Automation, Ipoh,Perak, Malaysia, 1994, pp. 371-377.

210. P.U. Lee, D. Ruspini, O. Khatib. “Dynamic Simulation of Interactive Robotic Environment.”Proc. IEEE International Conference on Robotics and Automation, San Diego, California,1994, pp. 1147-1152.

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211. J. Woodfill, R. Zabih, and O. Khatib. “Real-Time Motion Vision for Robot Control in Un-structured Environment.” Robotics for Challenging Environments, Proc. ASCE ’94, L. Dem-setz and P. Klarer, eds. ASCE, New York 1994, pp. 10-18.

212. O. Khatib. “Mobile Robotic Manipulation.” Proc. GMA Conference, Langen, Germany,1993. pp. 51-66.

213. O. Khatib. “A Task-Level Framework for Robotics Manipulation.” Proc. Second Conferenceon Mechatronics and Robotics, Duisburg/Moers, Germany, 1993, pp. 201-216.

214. S. Quinlan and O. Khatib. “Towards Real-Time Execution of Motion Tasks,” ExperimentalRobotics 2, R. Chatila and G. Hirzinger, eds., Springer-Verlag Berlin Heidelberg, 1993, pp.241-254.

215. D. Williams and O. Khatib. “The Virtual Linkage: A Model for Internal Forces in Multi-Grasp Manipulation.” Proc. IEEE International Conference on Robotics and Automation,Atlanta, Georgia 1993, vol.1 pp. 1025-1030.

216. S. Quinlan and O. Khatib. “Elastic Bands: Connecting Path Planning and Robot Control.”Proc. IEEE International Conference on Robotics and Automation, Atlanta, Georgia 1993,vol 2. pp. 802-807.

217. R. Holmberg, S. Dickert, and O. Khatib. “A New Actuation System for High-PerformanceTorque-Controlled Manipulators,”RoManSy 9, Proc. CISM-IFToMM Symposium on Theoryand Practice of Robots and Manipulators, A. Morecki, G. Bianchi and K. Jaworek eds.,Springer-Verlag Berlin Heidelberg, 1993. pp. 285-292.

218. J. Russakow and O. Khatib. “A New Control Structure for Free-Flying Space Robots.” Inter-national Symposium on Artificial Intelligence, Robotics and Automation in Space, Toulouse,France, 1992, pp. 395-403.

219. D. Williams and O. Khatib. “Characterization of Internal Forces in Multi-Grasp Manipula-tion.” Proceedings of the Second International Symposium on Measurement and Control inRobotics (ISMCR ’92), Tsukuba Science City, Japan, 1992 pp.731-738.

220. O. Khatib “Towards a New Generation of Force-Controlled Robot Manipulators,” Proc. ofORIA’91 Workshop on Telerobotics in Hostile Environments, Marseille, France, 1991.

221. O. Khatib and B. Roth “New Robot Mechanisms for New Robot Capabilities,” Proc. ofIEEE/RSJ Int. Workshop on Intelligent Robots and Systems – IROS ’91, Osaka, Japan, 1991,pp. 44-49.

222. O. Khatib, B. Roth, and K. Waldron. “The Design of a High-Performance Force-ControlledManipulator,” Proc. Eighth IFToMM World Congress on the Theory of Machines and Mech-anisms,, Prague, Czechoslovakia, August 1991. vol. 2, pp. 475-478.

223. O. Khatib. “Reduced Effective Inertia in Macro-/Mini-Manipulator Systems,” Robotics Re-search 5, Proc. 5th Int. Symposium, H. Miura and S. Arimoto, eds., Cambridge: MIT Press,1990, pp. 279-284.

224. D. Vischer and O. Khatib. “Design and Construction of Torque-Controlled Joints,” Exper-imental Robotics 1, V. Hayward and O. Khatib, eds., Springer-Verlag Berlin Heidelberg,1990, pp. 271-286.

225. O. Khatib. “Motion/Force Redundancy of Manipulators,” Proc. Japan-USA Symposium onFlexible Automation, Kyoto, Japan, 1990, pp. 337-342.

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226. O. Khatib. “Object Level Manipulation,” Proc. IEEE International Workshop on IntelligentMotion Control, Istanbul, Turkey, 1990. pp.497-502.

227. D. Vischer and O. Khatib. “ Performance Evaluation of Force/Torque Feedback ControlMethodologies,” Proc. RoManSy 8, CISM-IFToMM Symposium on Theory and Practice ofRobots and Manipulators, Cracow, Poland, 1990, pp. 186-193.

228. O. Khatib and S. Agrawal. “Isotropic and Uniform Inertial and Acceleration Characteristics:Issues in the Design of Manipulators,” Dynamics of Controlled Mechanical Systems, G.Schweitzer and M. Mansour, eds., Springer-Verlag Berlin Heidelberg 1989, pp. 259-270.

229. O. Khatib. “Dynamic Control of Multi-Structure Robot Systems at the Manipulated ObjectLevel,” Current Advances in Mechanical Design and Production IV, Y. Kabil and M. Said,eds., Pergamon Press 1989, pp. 433-440.

230. O. Khatib. “Force-Based Motion Control of Robot Manipulators,” Proc. Int. Meeting onAdvances in Robot Kinematics, Ljubljana, Yugoslavia, September 1988, pp. 176-180.

231. B. Roth, M. Raghavan, O. Khatib, and K. Waldron. “Kinematic Structure for a Force Con-trolled Redundant Manipulator,” Proc. Int. Meeting on Advances in Robot Kinematics,Ljubljana, Yugoslavia, September 1988, pp. 62-66.

232. O. Khatib. “Object Manipulation in a Multi-Effector Robot System,” Robotics Research 4,Proc. 4th Int. Symposium, R. Bolles and B. Roth, eds., Cambridge: MIT Press, 1988, pp.137-144.

233. O. Khatib. “The Augmented Object and Reduced Effective Inertia in Robot Systems,” Proc.American Control Conference, Atlanta, Georgia, June 1988, vol. 3, pp. 2140-2147.

234. O. Khatib. “Inertial Characteristics and Dextrous Dynamic Coordination of Macro/Micro-Manipulator Systems,” RoManSy 7, CISM-IFToMM Symposium on Theory and Practice ofRobots and Manipulators, Cracow, Poland, 1988.

235. S. Shekhar and O. Khatib. “Force Strategies in Real-Time Fine Motion Assembly,” Proc.ASME Winter Annual Meeting, Boston, Massachusetts, December 1987, pp. 169-176.

236. J.J. Slotine, O. Khatib, and D. Ruth. “Robust Operational Space Control for Goal PositionedManipulator Tasks,” ’87 ICAR, Versailles, France, IFS/Springer-Verlag, October 1987, pp.503-512.

237. O. Khatib and J. Burdick. “Force Control of Robot Manipulators,” Proc. Seventh IFToMMCongress on the Theory of Machines and Mechanisms, Seville, Spain, September 1987,Pergamon Press, vol. 2, pp. 1213-1218.

238. O. Khatib. “Redundant Manipulators and Kinematic Singularities: The Operational SpaceApproach,” RoManSy 6, Morecki, A., Binachi, G., and Kedzior, K., eds., Cambridge: MITPress, 1987, pp. 131-138.

239. O. Khatib. “Robot Manipulator Control in Operational Space, ” Proc. CNRS Symposium onMathematical Tools for Modeling and Control of Robots, Paris, France, September 1986, pp.367-391.

240. O. Khatib. “The Operational Space Formulation in the Analysis, Design, and Control ofManipulators,” Robotics Research 3, Proc. 3rd Int. Symposium, O. Faugeras and G. Giralt,eds., Cambridge: MIT Press, 1986, pp. 261-270.

241. O. Khatib. “Constrained Motion and Redundancy in Robot Manipulator Control,” Proc. of

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the Japan-U.S.A. Symposium on Flexible Automation, Osaka, Japan, July 1986, pp. 93-98.242. L. Pfeffer, O. Khatib, and J. Hake. “Joint Torque Sensory Feedback in the Control of a

PUMA Manipulator,” American Control Conference, Seattle, Washington, June 1986, vol.2, pp. 818-824.

243. O. Khatib and J. Burdick. “Motion and Force Control of Robot Manipulators,” Proc. IEEEInternational Conference on Robotics and Automation, San Francisco, California, April1986, vol. 3, pp. 1381-1386.

244. B. Armstrong, O. Khatib, and J. Burdick. “The Explicit Dynamic Model and Inertial Pa-rameters of the PUMA 560 Arm,” Proc. IEEE International Conference on Robotics andAutomation, San Francisco, California, April 1986, vol. 1, pp. 510-518.

245. S. Shekhar, O. Khatib, and M. Shimojo. “Sensor Fusion and Object Localization,” Proc.IEEE International Conference on Robotics and Automation, San Francisco, California,April 1986, vol. 3, pp. 1623-1628.

246. O. Khatib. “The Potential Field Approach and Operational Space Formulation in RobotControl,” Proc. Fourth Yale Workshop on Applications of Adaptive Systems Theory, YaleUniversity, New Haven, Connecticut, May 1985, pp. 208-214.

247. O. Khatib and J. Burdick. “Dynamic Optimization in Manipulator Design: The OperationalSpace Formulation,” Robotics and Manufacturing Automation, M. Donath and M. Leu, eds.,ASME Winter Annual Meeting, Miami, November 1985, PED-Vol. 15, pp. 169-174.

248. O. Khatib. “The Operational Space Formulation in Robot Manipulator Control,” Proc. ofthe 15th International Symposium on Industrial Robots, Tokyo, Japan, September 1985, vol.1, pp. 165-172.

249. O. Khatib. “Real-Time Obstacle Avoidance for Manipulators and Mobile Robots,” IEEEInternational Conference on Robotics and Automation, St. Louis, Missouri, March 1985,pp. 500-505.

250. O. Khatib. “Real-Time Control of Manipulators in Operational Space,” Proc. 28th AnnualStanford Conference of the American Society for Quality Control, Palo Alto, California,October 1984, pp. 9/1-9/7.

251. O. Khatib. “Dynamic Control of Manipulators in Operational Space,” Proc. Sixth IFToMMCongress on the Theory of Machines and Mechanisms, New Delhi, India, December 1983.New York: Wiley, 1983, vol. 2, pp. 1128-1131.

252. O. Khatib and J.F. Le Maitre. “Dynamic Control of Manipulators Operating in a Com-plex Environment,” Proc. RoManSy’78, 3rd CISM-IFToMM Symp. Theory and Practice ofRobots and Manipulators, Udine, Italy, September 1978. Elsevier (1979), pp. 267-282.

Technical Reports

253. D. Ruspini, K. Kolarov, and O. Khatib. “ The Robust Haptic Display of Graphical Environ-ments,” Proc. PHANToM Workshop, MIT-AI Report AITR-1596, December 1996.

254. O. Khatib. “ Inertial Properties in Robotics Manipulation,” no. STAN-CS-92-1457, Depart-ment of Computer Science, Stanford University, December 1992.

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255. J. Burdick and O. Khatib. “Force Control Research at Stanford,” Intelligent Task AutomationInterim Report, no. 7, Honeywell Inc., Technology Strategy Center, Minneapolis, October1985, pp. 6/33-6/42.

256. J. Burdick and O. Khatib. “Force Control Implementation in COSMOS,” Intelligent Task Au-tomation Interim Report, no. 5, Honeywell Inc., Technology Strategy Center, Minneapolis,April 1984, pp. 6/9-6/13.

257. J. Burdick and O. Khatib. “COSMOS Control System,” Intelligent Task Automation InterimReport, no. 4, Honeywell Inc., Technology Strategy Center, Minneapolis, January 1984, pp.6/10-18.

258. J. Craig, O. Khatib, and J. Burdick. “Stanford’s Contribution to Active Force Control forITA,” Intelligent Task Automation Interim Report, no. 3, Honeywell Inc., Technology Strat-egy Center, Minneapolis, July 1983, pp. 5/50-5/59.

259. J. Burdick and O. Khatib. “Cartesian Path Planning and Estimation,” Intelligent Task Au-tomation Interim Report, no. 3, Honeywell Inc., Technology Strategy Center, Minneapolis,July 1983, pp. 5/59-5/83.

260. H. Gallaire, O. Khatib, C. Lasserre, M. Llibre, and R. Mampey. “Fonction Decision-Commanded’un Robot Industriel,” Rapport Principal, no. 1/7156, DERA-CERT, Toulouse, France, July1978.

261. O. Khatib, M. Llibre, and R. Mampey. “Fonction Decision-Commande d’un Robot Manip-ulateur,” Rapport Scientifique, no. 2/7156, DERA-CERT, Toulouse, France, July 1978.

Video Proceedings

262. O. Brock, O. Khatib, and S. Viji, “Task-Consistent Obstacle Avoidance for Mobile Manip-ulation,” 2002 International Conference on Robotics and Automation Video Proceedings,Washington, USA, 2002.

263. O. Brock and O. Khatib “High-Speed Navigation Using the Global Dynamic Window Ap-proach,” 2000 IEEE Robotics and Automation Conference Video Proceedings, (2.5 min)2000.

264. O. Khatib, O. Brock, K. Yokoi, and R. Holmberg, “ Dancing with Juliet,” 1999 IEEERobotics and Automation Conference Video Proceedings, (2.5 min) 1999.

265. O. Khatib, K. Yokoi, K. Chang, and A. Casal.“The Stanford Robotic Platforms,” 1997 IEEERobotics and Automation Conference Video Proceedings, (2.5 min) 1997.

266. O. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, A. Casal, and A. Baader. “TheRobotic Assistant,” 1996 IEEE Robotics and Automation Conference Video Proceedings,(2.5 min) 1996.

267. J. Russakow, S. Rock and O. Khatib. “An Operational Space Formulation for Free-Flying,Multi-Arm Space Robot,” 1996 IEEE Robotics and Automation Conference Video Proceed-ings, (3 min) 1996.

268. D. Williams and O. Khatib. “Improved Force Control for Conventional Arms Using Wrist-Based Torque Feedback,” Experimental Robotics IV: 4th Int. Symposium on ExperimentalRobotics Video Proceedings, (3 min) 1995.

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269. J. Russakow, S. Rock and O. Khatib. “An Operational Space Formulation for Free-Flying,Multi-Arm Space Robot,” Experimental Robotics IV: 4th Int. Symposium on ExperimentalRobotics Video Proceedings, (3 min) 1995.

270. D. Williams and O. Khatib. “ Multi-Grasp Manipulation,” 1995 IEEE Robotics and Automa-tion Conference Video Proceedings, (3 min) 1995.

271. D. Williams and O. Khatib. “Experiments in Multi-Grasp Manipulation.” ExperimentalRobotics: ISER3 Video Proceedings, V. Hayward, ed., McGill University, (3 min) 1994.

272. O. Khatib, D. Williams, Sean Quinlan, Diego Ruspini, Robert Holmberg, K. Chang, RaminZabih. “Robotic Manipulation,” Stanford University, (23 min) 1994.

273. O. Khatib “A Framework for Task-Level Robotics Manipulation,” Video Proceedings, 6th.International Symposium on Robotics Research, T. Kanade and R. Paul, eds., (3 min) 1993.

274. O. Khatib, V. Hayward and R. Chatila, eds., Experimental Robotics I & II: Int. Symposia onExperimental Robotics, Video Proceedings, IEEE Educational Activities, (62 min) 1993.

275. D. Vischer and O. Khatib. “Design and Development of Torque-Controlled Joints,” Exper-imental Robotics I & II: Int. Symposia on Experimental Robotics, Video Proceedings O.Khatib, V. Hayward and R. Chatila, eds., IEEE Educational Activities, (3 min) 1993.

276. S. Quinlan and O. Khatib. “Towards Real-Time Execution of Motion Tasks,” ExperimentalRobotics I & II: Int. Symposia on Experimental Robotics, Video Proceedings O. Khatib, V.Hayward and R. Chatila, eds., IEEE Educational Activities, (3 min) 1993.

277. J. Burdick, R. Fearing, O. Khatib, L. Pfeffer, S. Shekhar. Sensor-Based Robot Control,Robotics Laboratory, Stanford University, (10 min) 1987.

278. O. Khatib and J. Burdick. Active Force Control, Artificial Intelligence Laboratory, StanfordUniversity, (5 min) 1986.

279. O. Khatib, J. Burdick, and B. Armstrong. Robotics in Three Acts - Part II, Artificial Intelli-gence Laboratory, Stanford University, (5 min) 1985.

280. J. Burdick, J. Craig, R. Fearing, O. Khatib, and K. Salisbury. Robotics in Three Acts, Artifi-cial Intelligence Laboratory, Stanford University, (10 min) 1984.

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